Percorrer por autor "Costa, Paulo"
A mostrar 1 - 9 de 9
Resultados por página
Opções de ordenação
- A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGVPublication . Bonzatto Junior, Luciano; Berger, Guido S.; Braun, João A.; Pinto, Milena F.; Santos, Murillo Ferreira dos; Oliveira Júnior, Alexandre de; Nowakowski, Marek; Costa, Paulo; Wehrmeister, Marco A.; Lima, JoséThe cooperation between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has brought new perspectives and e!ectiveness to production and monitoring processes. In this sense, tracking moving targets in heterogeneous systems involves coordination, formation, and positioning systems between UGVs and UAVs. This article presents a Proportional-Integral-Derivative (PID) control strategy for tracking moving target operations, considering an operating environment between a multirotor UAV and an indoor UGV. Di!erent PID architectures are developed and compared to each other in the Gazebo simulator, whose objective is to analyze the control performance of the UAV when used to track the ground robot based on the identification of the ArUco fiducial marker. Computer vision techniques based on the Robot Operating System (ROS) are integrated into the UAV’s tracking system to provide a visual reference for the aircraft’s navigation system. The results of this study indicate that the PD, Cascade, and Parallel controllers showed similar performance in both trajectories tested, with the Parallel controller showing a slight advantage in terms of mean error and standard deviation, suggesting its suitability for applications that prioritize precision and stability.
- Design and development of an omnidirectional mecanum platform for the robotAtFactory 4.0 competitionPublication . Braun, João A.; Baidi, Kaïs; Bonzatto, Luciano; Berger, Guido S.; Pinto, Milena; Kalbermatter, Rebeca B.; Klein, Luan; Grilo, Vinicius; Pereira, Ana I.; Costa, Paulo; Lima, JoséRobotics competitions are highly strategic tools to engage and motivate students, cultivating their curiosity and enthusiasm for technology and robotics. These competitions encompass various disciplines, such as programming, electronics, control systems, and prototyping, often beginning with developing a mobile platform. This paper focuses on designing and implementing an omnidirectional mecanum platform, encompassing aspects of mechatronics, mechanics, electronics, kinematics models, and control. Additionally, a simulation model is introduced and compared with the physical robot, providing a means to validate the proposed platform.
- Enhancing classroom dynamics: exploring the synergy of social marketing, neuromarketing, and artificial intelligencePublication . Martins, Oliva M.D.; Coelho, Ana Sofia; Costa, Paulo; Coelho, Ana Sofia; Costa, pauloAs a part of a research project, this paper refers to the assessment of the degree of knowledge integrating Social Marketing, Neuromarketing and Artificial Intelligence for sustainable economic development activities in Portugal. In addition, aiming to promote good behaviors and understand better the influence of Artificial Intelligence such as AI, VR, AR, big data, etc., on communications, social marketing can also explore neurometrics, biometrics and psychometrics factors to help individuals on their decision-making process. Furthermore, segmentation is a marketing technique that can be used to influence the decision-making process, even promoting good behavior. Considering the assumption that good behavior is very important because it results in benefits not only the individual but also society and the environment, to promote these behaviors, social marketing must communicate through assertive messages. Using neuromarketing theoretical framework to support social marketing communications and understand better the decision-making process, this literature review presents a model which can help teachers as well as social marketeers to promote sports activities in higher education institutions.
- Laser Engraving for 3D Surfaces: A Robotized Application Case StudyPublication . Alvarez, Mariano José; Brancalião, Laiany Suganuma; Carneiro, Jorge; Costa, Paulo; Coelho, João Paulo; Gonçalves, JoséOne of the industry’s most common applications of lasers is engraving, which is generally performed on flat surfaces. However, there are many situations where the object to be engraved has an unevenly curved geometry. In those cases, the light power density will be different along the surface for a fixed head, leading to a poor engraving result. This work deals with this problem by designing a robotic application capable of detecting variations on the object surface and automatically creating a trajectory to engrave on it correctly. This was made possible through a robotic manipulator, a time-of-flight distance sensor, and a data processing algorithm over the measured data. Obtained results were acquired using a custom-made test rig and validated by delivering consistent engraving results on irregular surface shapes.
- Modeling and control of an educational manipulator robot jointPublication . Coelho, J. A. B.; Brancalião, Laiany Suganuma; Alvarez, Mariano José; Costa, Paulo; Gonçalves, JoséIntegrating physical robots in an educational context often entails acquiring Expensive equipment that often operates using proprietary software. Both conditions restrict the students from exploring and fully understanding the internal operation of robots. In response to these limitations, a three-degree-of-freedom robotic manipulator, based on the “EEZYbotARM MK2” open-source design by Carlo Franciscone, is being repurposed and integrated within the SimTwo simulation environment to operate within a hardware-in-the-loop architecture. To accomplish this objective, first, an open-source Arduino-based library was developed aiming at the robot’s online and offline programming akin to industrial robots. The firmware is able to communicate with the SimTwo software in which the digital twin’s robot is living. The dynamic behavior of the robot’s digital twin must be properly parametrized and aligned with the physical robot’s dynamics. This article describes the modeling of the robot joint’s actuator and its closed-loop controller formulation. The obtained results show that the dynamic behavior of the robot joint digital twin closely matches both open and closed-loop, the one of its physical counterpart.
- Nonlinear control of mecanum-wheeled robots applying h∞ controllerPublication . Chellal, Arezki Abderrahim; Braun, João A.; Lima, José; Gonçalves, José; Valente, António; Costa, PauloMecanum wheeled mobile robots have become relevant due to their excellent maneuverability, enabling omnidirectional motion in constrained environments as a requirement in industrial automation, logistics, and service robotics. This paper addresses a low-level controller based on the H-Infinity (H∞) control method for a four-wheel Mecanum mobile robot. The proposed controller ensures stability and performance despite model uncertainties and external disturbances. The dynamic model of the robot was developed and introduced in MATLAB to generate the controller. Further, the controller’s performance is validated and compared to a traditional PID controller using the SimTwo simulator, a realistic physics-based simulator with dynamics of rigid bodies incorporating non-linearities such as motor dynamics and friction effects. The preliminary simulation results show that the H∞ reached a time-independent Euclidean error of 0.0091 m, compared to 0.0154 m error for the PID in trajectory tracking. Demonstrating that the H∞ controller handles nonlinear dynamics and disturbances, ensuring precise trajectory tracking and improved system performance. This research validates the proposed approach for advanced control of Mecanum wheeled robots.
- Nonlinear control of mecanum-wheeled robots applying H∞controllerPublication . Chellal, Arezki Abderrahim; Braun, João A.; Lima, José; Gonçalves, José; Valente, Antonio; Costa, PauloMecanum wheeled mobile robots have become relevant due to their excellent maneuverability, enabling omnidirectional motion in constrained environments as a requirement in industrial automation, logistics, and service robotics. This paper addresses a low-level controller based on the H-Infinity (H-infinity) control method for a four-wheel Mecanum mobile robot. The proposed controller ensures stability and performance despite model uncertainties and external disturbances. The dynamic model of the robot was developed and introduced in MATLAB to generate the controller. Further, the controller's performance is validated and compared to a traditional PID controller using the SimTwo simulator, a realistic physics-based simulator with dynamics of rigid bodies incorporating non-linearities such as motor dynamics and friction effects. The preliminary simulation results show that the H-infinity reached a time-independent Euclidean error of 0.0091 m, compared to 0.0154 m error for the PID in trajectory tracking. Demonstrating that the H-infinity controller handles nonlinear dynamics and disturbances, ensuring precise trajectory tracking and improved system performance. This research validates the proposed approach for advanced control of Mecanum wheeled robots.
- Optimization of machine learning models applied to robot localization in the robotatfactory 4.0 competitionPublication . Klein, Luan C.; Mendes, João; Braun, João A.; Martins, Felipe N.; Fabro, João Alberto; Costa, Paulo; Pereira, Ana I.; Lima, JoséSeveral approaches have been developed over time aiming to improve the localization aspects, especially in mobile robotics. Besides the more traditional techniques, mainly based on analytical models, artificial intelligence has emerged as an interesting alternative. The current study proposes to explore the machine learning model structure optimization for pose estimation, using the RobotAtFactory 4.0 competition as the main context. Using a Bayesian Optimization-based framework, the parameters of a Multi-Layer Perceptron (MLP) model, trained to estimate the components of the 2D pose (x, y, and !) of the robot were optimized in four different scenarios of the same context. The results obtained showed a quality improvement of up to 60% on the estimation when compared with the modes without any optimization. Another aspect observed was the different optimizations found for each model, even in the same scenario. An additional interesting result was the possibility of the reuse of optimization between scenarios, presenting an interesting approach to reduce time and computational resources.
- Realistic simulation for dataset generation in a mobile robotics educational contextPublication . Brancalião, Laiany Suganuma; Alvarez, Mariano José; Coelho, J. A. B.; Conde, Miguel; Costa, Paulo; Gonçalves, JoséIn the context of mobile robotics education, realistic and accessible datasets are fundamental for supporting the development and testing of algorithms. However, collecting real-world data is a limited and challenging task because it is time-consuming and error-prone. Therefore, this paper presents the generation of a synthetic dataset through realistic simulation using the SimTwo environment—a physics-based simulator, and modeling techniques of sensors and actuators. The physical and simulated mobile robot was developed to perform tasks such as following a line, following a wall, and avoiding obstacles. The proposed approach facilitates the creation of customized datasets for training and evaluation algorithms while supporting remote and inclusive learning. Results show that a simulated dataset can effectively replicate real-world behaviors, making them a valuable resource for educational contexts, research, and development. Some emergent machine learning algorithms can be applied to this dataset, being this approach increasingly used to enhance robot localization, by leveraging ML, robots can improve the accuracy, robustness, and adaptability of their localization systems, especially in complex and dynamic environments.